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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (13): 29-38.doi: 10.3901/JME.2017.13.029

• 软体机器人专栏 • 上一篇    下一篇

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基于纤维增强型驱动器的气动软体抓手设计

魏树军1，2, 王天宇1, 谷国迎1，2   

  1. 1. 上海交通大学机械系统与振动国家重点实验室 上海 200240
    , 2. 上海交通大学机械与动力工程学院 上海 200240
  • 出版日期:2017-07-05 发布日期:2017-07-05
  • 作者简介:

    魏树军，男，1992年出生。主要研究方向为软体机器人技术。

    E-mail：weishujun@sjtu.edu.cn

    谷国迎(通信作者)，男，1983年出生，副教授。主要研究方向为软体机器人学、机器人控制技术。

    E-mail：guguoying@sjtu.edu.cn

  • 基金资助:
    * 国家自然科学基金(51622506)和上海市科委基础研究(16JC1401000)资助项目; 20170302收到初稿，20170421收到修改稿;

Design of a Soft Pneumatic Robotic Gripper Based on Fiber-reinforced Actuator

WEI Shujun1，2, WANG Tianyu1, GU Guoying1，2   

  1. 1. State Key Laboratory of Mechanical System and Vibration， Shanghai Jiao Tong University， Shanghai 200240
    , 2. School of Mechanical Engineering， Shanghai Jiao Tong University， Shanghai 200240
  • Online:2017-07-05 Published:2017-07-05

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摘要：

现有机械抓手多为刚性结构，对被抓物品的自适应能力差。为实现柔顺抓取常采用欠驱动的方式，由此带来设计的机械抓手结构复杂、控制难度大的问题，而且通常只能应用于特定的目标对象。设计一种结构与控制简单、自适应能力强的软体抓手。该抓手由三个具有纤维增强结构的软体弯曲驱动器作为爪子协调配合实现抓取任务，气体的可压缩性与软体驱动器的弹性使此抓手拥有可对易损物品无损抓取的良好特性。选取合理的性能参数后，采用3D打印出模具浇注硅胶的方式制作出特性优良的驱动器，同样采用3D打印的方式制作抓手的连接基座，同时，整个装置的气密性通过独特设计的结构得以保障。该抓手配合UR机械臂抓取形状大小各异物品的试验结果表明：该抓手抓取稳定、自适应能力强、控制简单并且能够很好地实现无损抓取。

关键词: 软体驱动器, 软体抓手, 纤维增强型结构, 自适应抓取

Abstract:

Most of current mechanical grippers are rigid-structured and have poor adaptive ability to target objects. In order to achieve adaptive grasping, the under-actuated mechanisms are usually employed, leading to complicated structure and controlling difficulty. On the other hand, such under-actuated grippers are generally designed for a specific target object. A soft pneumatic robotic gripper which is easy to be controlled and has strong adaptive ability is designed in this paper. The three-finger soft pneumatic robotic gripper achieves grasping tasks through cooperation of three fiber-reinforced soft bending actuators. It can accomplish the no-damage grasping of fragile items because of the compressibility of gas and the elasticity of soft actuators. After selecting appropriate parameters, soft actuators are manufactured by injecting silicon into 3D-printed molds. With 3D-printed connecting base, air-impermeability of the whole equipment can be guaranteed. The experiments are designed as: Grasping different kinds of object with different size by cooperation between the soft pneumatic gripper and UR robot arm. The results of experiments indicate that this developed gripper can realize the expected no-damage grasping function and has the features such as universal grasping, strong adaptive ability, and easy of control.

Key words: fiber-reinforced structure, soft actuator, soft gripper, adaptive grasping

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